Method, apparatus, storage medium and electronic device for determining pseudorange multipath deviation

Abstract

An embodiment of the present invention provides a method for determining pseudorange multipath deviation, including: determining a distance correction amount of the projection of the phase center of a satellite antenna transmitting signals at multiple frequency points in the direction of the line of sight of a first satellite according to the phase center error value of the satellite antenna transmitting signals at multiple frequency points in the satellite-fixed system and the first information in the Earth-centered Earth-fixed system, where the first information includes: the position information of the first satellite, the sun position information, and the receiver position information of the first satellite; determining the target pseudorange multipath deviation of the satellite antenna transmitting signals at a first frequency point based on the first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting signals at a second frequency point, where the first frequency point is any frequency point included in the multiple frequency points, and the second frequency point is any other frequency point included in the multiple frequency points except the first frequency point.

Description

Technical Field

[0001] An embodiment of the present invention relates to the field of communications, and in particular, to a method, apparatus, storage medium, electronic device, and program product for determining pseudorange multipath deviation. Background Art

[0002] Pseudorange multipath deviation is one of the key factors affecting the positioning accuracy of satellite systems. By effectively evaluating and correcting these deviations, the accuracy of satellite navigation services such as single-point positioning and precise single-point positioning can be significantly improved. When the pseudorange multipath deviation determination method in the related art is applied to low-earth orbit satellites, there is a problem of large errors. Summary of the Invention

[0003] According to an embodiment of the present invention, there is provided a method for determining pseudorange multipath deviation, the method including: determining a distance correction amount of a phase center of a satellite antenna transmitting signals at a plurality of frequency points in the satellite-fixed coordinate system projected onto the line-of-sight direction of the first satellite based on a phase center error value of the satellite antenna transmitting signals at the plurality of frequency points in the satellite-fixed coordinate system and first information in the Earth-centered Earth-fixed coordinate system, where the first information includes: position information of the first satellite, solar position information, and receiver position information of the first satellite; determining a target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point based on a first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and a second distance correction amount of the phase center of the satellite antenna transmitting signals at a second frequency point, where the first frequency point is any one of the plurality of frequency points, and the second frequency point is any other frequency point among the plurality of frequency points other than the first frequency point.

[0004] In an exemplary embodiment, before determining the target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point based on the first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency point, the method further includes: determining one or more of the second frequency points from the other frequency points.

[0005] In an exemplary embodiment, determining one of the second frequency points from the other frequency points includes one of the following: determining as the second frequency point the frequency point among the other frequency points having the largest absolute value of the frequency difference from the first frequency point; selecting the second frequency point from the frequency points among the other frequency points having an absolute value of the frequency difference from the first frequency point reaching a threshold according to a predetermined selection method.

[0006] In an exemplary embodiment, determining multiple second frequency points from the other frequency points includes one of the following: determining all of the other frequency points as the second frequency points; determining that each frequency point among the other frequency points includes the absolute value of the frequency difference between the frequency point and the first frequency point; sorting the other frequency points in descending order of the absolute value; and determining the first N frequency points as the second frequency points.

[0007] In an exemplary embodiment, when the number of the second frequency points is multiple, based on a first distance correction amount of a phase center of the satellite antenna transmitting a signal at a first frequency point and a second distance correction amount of the phase center of the satellite antenna transmitting a signal at a second frequency point, determining a target pseudo-range multipath deviation of the satellite antenna transmitting a signal at the first frequency point includes: for each of the second frequency points, performing the following operations to obtain multiple first pseudo-range multipath deviations: based on the first distance correction amount of the phase center of the satellite antenna transmitting a signal at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting a signal at the second frequency point, determining the first pseudo-range multipath deviation of the satellite antenna transmitting a signal at the first frequency point; and determining the target pseudo-range multipath deviation based on the multiple first pseudo-range multipath deviations.

[0008] In an exemplary embodiment, determining the target pseudo-range multipath deviation based on the multiple first pseudo-range multipath deviations includes: determining an average value of the multiple first pseudo-range multipath deviations as the target pseudo-range multipath deviation.

[0009] In an exemplary embodiment, based on the following formula, based on the first distance correction amount of the phase center of the satellite antenna transmitting a signal at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting a signal at the second frequency point and determining the target pseudo-range multipath deviation of the satellite antenna transmitting a signal at the first frequency point : :

[0010] ;

[0011]

[0012] wherein, is the pseudo-range of the signal transmitted at the frequency point , is the carrier phase observation value of the signal transmitted at the frequency point , is the carrier phase observation value of the signal transmitted at the frequency point , is the frequency point The frequency of the uplink transmission signal, is the frequency point The frequency of the uplink transmission signal, is the frequency point The wavelength of the uplink transmission signal, is the frequency point The wavelength of the uplink transmission signal, is the deviation term of the constant part including the carrier phase ambiguity, hardware delay and multipath error of the frequency point of the uplink transmission signal.

[0013] According to another embodiment of the present invention, there is provided a pseudorange multipath deviation determination device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following operations are implemented: determining a distance correction amount of the projection of the phase center of the satellite antenna transmitting signals at multiple frequency points under the satellite-fixed coordinate system in the line-of-sight direction of the first satellite according to the phase center error value of the satellite antenna of the first satellite transmitting signals at multiple frequency points and the first information under the Earth-centered Earth-fixed coordinate system, where the first information includes: the position information of the first satellite, the solar position information, and the receiver position information of the first satellite; determining the target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point based on the first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency point, where the first frequency point is any frequency point included in the multiple frequency points, and the second frequency point is other frequency points included in the multiple frequency points except the first frequency point.

[0014] According to still another embodiment of the present invention, there is also provided a computer-readable storage medium, in which a computer program is stored, where the computer program is configured to execute the steps in any one of the above method embodiments when running.

[0015] According to still another embodiment of the present invention, there is also provided an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0016] According to still another embodiment of the present invention, there is also provided a computer program product, where the computer program product includes a computer program, and the computer program implements the steps in any one of the above method embodiments when executed by a processor. Description of the Drawings

[0017] Figure 1It is a hardware structure block diagram of a mobile terminal for a method of determining pseudorange multipath deviation according to an embodiment of the present invention;

[0018] FIG. 2(a) is a flowchart of a method for determining pseudorange multipath deviation according to an embodiment of the present invention Figure 1 ;

[0019] FIG. 2(b) is a second flowchart of a method for determining pseudorange multipath deviation according to an embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of the distance correction amount of the phase center of a satellite antenna transmitting signals at different frequency points of a first satellite projected in the line-of-sight direction of the first satellite;

[0021] Figure 4 It is a schematic diagram of the on-orbit evaluation result of the distance correction amount of the phase center of a satellite antenna transmitting signals at different frequency points of a first satellite projected in the line-of-sight direction of the first satellite;

[0022] Figure 5 It is a schematic diagram of the on-orbit evaluation result of the pseudorange multipath deviation of a satellite antenna transmitting signals at different frequency points of a first satellite without correcting the phase center error;

[0023] Figure 6 It is a schematic diagram of the on-orbit evaluation result of the pseudorange multipath deviation of a satellite antenna transmitting signals at different frequency points of a first satellite after correcting the phase center error;

[0024] Figure 7 It is a structure block diagram of a device for determining pseudorange multipath deviation according to an embodiment of the present invention. Detailed implementation manners

[0025] In the following, embodiments of the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence.

[0027] The method embodiments provided in the embodiments of the present application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 It is a hardware structure block diagram of a mobile terminal for a method of determining pseudorange multipath deviation according to an embodiment of the present invention. As Figure 1 shown, the mobile terminal may include one or more ( Figure 1Only one processor 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a field programmable gate array FPGA) and a memory 104 for storing data are shown. Among them, the above mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 1 The structure shown is only schematic and does not limit the structure of the above mobile terminal. For example, the mobile terminal may further include more or fewer components than Figure 1 shown in, or have a different configuration from Figure 1 shown.

[0028] The memory 104 can be used to store computer programs. For example, software programs and modules of application software, such as the computer program corresponding to the pseudorange multipath bias determination method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0029] The transmission device 106 is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one instance, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] In this embodiment, a method for determining pseudorange multipath bias is provided. Fig. 2(a) is a flowchart of the method for determining pseudorange multipath bias according to an embodiment of the present invention Figure 1 , as shown in Fig. 2(a), the process includes the following steps:

[0031] Step S202: Determine the distance correction amount of the phase center of the satellite antenna transmitting signals at multiple frequency points projected in the line-of-sight direction of the first satellite based on the phase center error value of the satellite antenna transmitting signals at multiple frequency points in the satellite-fixed system and the first information in the Earth-centered Earth-fixed system, where the first information includes: the position information of the first satellite, the sun position information, and the receiver position information of the first satellite;

[0032] Step S204: Based on the first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency point, determine the target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point, where the first frequency point is any frequency point included in the multiple frequency points, and the second frequency point is any other frequency point included in the multiple frequency points except the first frequency point.

[0033] In the above steps, exemplarily, the phase center error value of the satellite antenna transmitting signals at each frequency point included in the multiple frequency points includes components in multiple directions. The position information of the first satellite includes, but is not limited to: the coordinates of the first satellite in the Earth-centered Earth-fixed system. The sun position information includes, but is not limited to: the coordinates of the sun in the Earth-centered Earth-fixed system. The receiver position information includes, but is not limited to: the coordinates of the receiver in the Earth-centered Earth-fixed system. Exemplarily, the first satellite includes, but is not limited to: a low-Earth orbit satellite (for example, a satellite with an orbital altitude between 500 and 2000 kilometers from the ground). The line-of-sight direction of the first satellite includes, but is not limited to: the direction of the line connecting the receiver to the first satellite.

[0034] Among them, the execution subject of the above steps can be a server, a smart terminal, other terminals with computing functions, etc., but not limited thereto.

[0035] Figure 2(b) is the second flowchart of the pseudorange multipath deviation determination method according to an embodiment of the present invention. As shown in Figure 2(b), exemplarily, step S202 includes the following steps:

[0036] Step S2021: Obtain the phase center error value of the satellite antenna of the first satellite transmitting signals at the multiple frequency points in the satellite-fixed system;

[0037] Step S2022: Obtain the position information of the first satellite in the Earth-centered Earth-fixed system and the sun position information in the Earth-centered Earth-fixed system, and determine the conversion matrix from the satellite-fixed system to the Earth-centered Earth-fixed system according to the position information of the first satellite and the sun position information;

[0038] Step S2023: Determine the phase center error value of the satellite antenna of the first satellite in the Earth-Centered Earth-Fixed (ECEF) coordinate system at the above-mentioned multiple frequency points based on the phase center error value of the satellite antenna of the first satellite in the above-mentioned Star-Fixed coordinate system at the above-mentioned multiple frequency points and the above-mentioned transformation matrix.

[0039] Step S2024: Obtain the receiver position information of the first satellite in the ECEF coordinate system, and determine the unit vector in the line-of-sight direction from the receiver to the first satellite in the ECEF coordinate system based on the receiver position information and the position information of the first satellite in the ECEF coordinate system.

[0040] Step S2025: Determine the distance correction amount of the projection of the phase center of the satellite antenna transmitting signals at the above-mentioned multiple frequency points in the line-of-sight direction of the first satellite based on the phase center error value of the satellite antenna of the first satellite in the ECEF coordinate system at the above-mentioned multiple frequency points and the above-mentioned unit vector.

[0041] In the above-mentioned step S2021, the phase center error value of the satellite antenna of the first satellite in the Star-Fixed coordinate system at the above-mentioned multiple frequency points includes but is not limited to being expressed as: , where is an integer greater than 0, and the value of i corresponding to different frequency points is different. and are respectively the component values of the phase center error value in the Star-Fixed coordinate system in multiple directions.

[0042] In the above-mentioned step S2022, the transformation matrix from the Star-Fixed coordinate system BF to the Earth-Centered Earth-Fixed coordinate system ECEF

[0043]

[0044] where is the position vector of the first satellite in the ECEF coordinate system, is the position vector of the sun in the ECEF coordinate system.

[0045] In the above-mentioned step S2023, the phase center error value of the satellite antenna of the first satellite in the ECEF coordinate system at the above-mentioned multiple frequency points includes but is not limited to being determined by the following formula:

[0046]

[0047] where and and They are the component values of the phase center error value in the above-mentioned Earth-centered Earth-fixed system in multiple directions respectively.

[0048] In the above step S2024, the unit vector in the line-of-sight direction from the above receiver to the above first satellite in the above Earth-centered Earth-fixed system including but not limited to being determined by the following formula:

[0049]

[0050] wherein, is the position vector of the above receiver in the above Earth-centered Earth-fixed system.

[0051] In the above step S2025, the distance correction amount of the phase center of the above satellite antenna transmitting signals at the above multiple frequency points projected in the line-of-sight direction of the above first satellite including but not limited to being determined by the following formula: .

[0052] Figure 3 is a schematic diagram of the distance correction amount of the phase center of the satellite antenna of the first satellite transmitting signals at different frequency points projected in the line-of-sight direction of the first satellite according to an embodiment of the present invention. As Figure 3 shown, exemplarily, the first satellite is respectively configured with signal transmitting antennas 301 and antenna 302 for two frequency points at different positions. The phase center 304 of the signal transmitting antenna 301 forms with the satellite centroid 303, and the phase center 305 of the signal transmitting antenna 302 forms with the satellite centroid 303. The distance correction amounts projected in the satellite line-of-sight direction are respectively and . Figure 4 is a schematic diagram of the on-orbit evaluation result of the distance correction amount of the phase center of the satellite antenna of the first satellite transmitting signals at different frequency points projected in the line-of-sight direction of the first satellite according to an embodiment of the present invention. As Figure 4 shown, during the transit period of the first satellite, the distance correction amounts of the phase centers of the satellite antennas transmitting signals at different frequency points projected in the line-of-sight direction of the above first satellite show obvious inconsistencies, with a maximum deviation of several decimeters, and this deviation shows a linear change.

[0053] Through the above steps, a method for determining the pseudorange multipath bias of the first satellite is provided. Figure 5 is a schematic diagram of the on-orbit evaluation result of the pseudorange multipath bias of the satellite antenna of the first satellite transmitting signals at different frequency points without correcting the phase center error according to an embodiment of the present invention. Figure 6Schematic diagram of the on-orbit evaluation result of the pseudorange multipath deviation for correcting the phase center error of the satellite antenna when the first satellite transmits signals at different frequency points, as shown in Figure 5 、 6 shown. Based on the method for determining the pseudorange multipath deviation in this application, it is possible to consider and modify the antenna phase center error in the evaluation algorithm, so that the obvious linear trend term in the pseudorange multipath deviation sequence of the prior art deviation determination method disappears, thereby improving the accuracy of the pseudorange multipath deviation determination.

[0054] In one embodiment, before determining the target pseudorange multipath deviation of the satellite antenna when transmitting signals at the first frequency point based on the first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency point, the method further includes: determining one or more of the second frequency points from the other frequency points.

[0055] In one embodiment, determining one of the second frequency points from the other frequency points includes one of the following: determining the frequency point with the largest absolute value of the frequency difference from the first frequency point included in the other frequency points as the second frequency point; selecting the second frequency point from the frequency points included in the other frequency points with the absolute value of the frequency difference from the first frequency point reaching a threshold according to a predetermined selection method.

[0056] In the above step, by way of example, when the first satellite includes four frequency points (i.e., F1, F2, F3, F4), the frequency of F1 is 1.575 GHz, the frequency of F2 is 1.260 GHz, the frequency of F3 is 1.576 GHz, the frequency of F4 is 1.203 GHz, and F1 is the first frequency point, the second frequency point is determined as follows:

[0057] Calculate the absolute value of the frequency difference from F1 respectively: |F1 - F2| = 0.315 GHz, |F1 - F3| = 0.001 GHz, |F1 - F4| = 0.372 GHz, and determine F2 as the second frequency point.

[0058] In one embodiment, determining multiple of the second frequency points from the other frequency points includes one of the following: determining all of the other frequency points as the second frequency points; determining the absolute value of the frequency difference between each frequency point included in the other frequency points and the first frequency point; sorting the other frequency points in descending order according to the absolute value; and determining the first number of the front frequency points as the second frequency points.

[0059] In the above steps, the above first quantity includes but is not limited to: 1, 2, 3, etc. The above first quantity can be preset and can be determined according to the application scenario. Exemplarily, when the above first quantity is 2, F2 and F4 are determined as the above second frequency points.

[0060] In one embodiment, when the number of the above second frequency points is multiple, based on a first distance correction amount of the phase center of the above satellite antenna transmitting a signal at a first frequency point and a second distance correction amount of the phase center of the above satellite antenna transmitting a signal at a second frequency point, determining the target pseudorange multipath deviation of the above satellite antenna transmitting a signal at the above first frequency point includes: for each of the above second frequency points, performing the following operations to obtain multiple first pseudorange multipath deviations: based on the first distance correction amount of the phase center of the above satellite antenna transmitting a signal at the first frequency point and the second distance correction amount of the phase center of the above satellite antenna transmitting a signal at the above second frequency point, determining the first pseudorange multipath deviation of the above satellite antenna transmitting a signal at the above first frequency point; determining the above target pseudorange multipath deviation based on the multiple above first pseudorange multipath deviations.

[0061] In the above steps, exemplarily, when F2 and F4 are determined as the above second frequency points, first, based on the first distance correction amount of F1 and the second distance correction amount of F2, determining the first of the above first pseudorange multipath deviations, and, based on the first distance correction amount of F1 and the second distance correction amount of F4, determining the second of the above first pseudorange multipath deviations; then, determining the above target pseudorange multipath deviation based on the first of the above first pseudorange multipath deviations and the second of the above first pseudorange multipath deviations.

[0062] In one embodiment, determining the above target pseudorange multipath deviation based on the multiple above first pseudorange multipath deviations includes: determining the average value of the multiple above first pseudorange multipath deviations as the above target pseudorange multipath deviation.

[0063] In one embodiment, through the following formula, based on the first distance correction amount of the phase center of the above satellite antenna transmitting a signal at a first frequency point and the second distance correction amount of the phase center of the above satellite antenna transmitting a signal at a second frequency point and determining the target pseudorange multipath deviation of the above satellite antenna transmitting a signal at the above first frequency point : :

[0064]

[0065]

[0066] Wherein, is the pseudorange of the transmitted signal at frequency ; is the carrier phase observation value of the uploaded signal at frequency ; is the carrier phase observation value of the uploaded signal at frequency ; is the frequency of the transmitted signal at frequency ; is the frequency of the transmitted signal at frequency ; is the wavelength of the transmitted signal at frequency ; is the wavelength of the transmitted signal at frequency ; is the deviation term of the constant part including the carrier phase ambiguity, hardware delay and multipath error of the transmitted signal at frequency .

[0067] In the above steps, exemplarily, when F2 and F4 are determined as the above second frequencies, first determine the first above-mentioned first pseudorange multipath deviation based on the first distance correction amount of F1 and the second distance correction amount of F2 , and determine the second above-mentioned first pseudorange multipath deviation based on the first distance correction amount of F1 and the second distance correction amount of F4 , and then determine the above-mentioned target pseudorange multipath deviation based on the first above-mentioned first pseudorange multipath deviation and the second above-mentioned first pseudorange multipath deviation .

[0068] Through the pseudorange multipath deviation evaluation method in this application, by considering the layout characteristics of the satellite antenna during the pseudorange multipath deviation evaluation process, the influence of the antenna phase center error correction of different frequencies is fully considered, so that the quality of the observation data of the low-earth orbit navigation satellite can be evaluated more accurately, the reliability of the evaluation result is effectively guaranteed, and the systematic deviation misjudgment problem caused by the imperfect consideration factors of the traditional evaluation method is avoided, providing technical support for the on-orbit verification and evaluation work of the low-earth orbit navigation augmentation system.

[0069] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0070] In this embodiment, a pseudorange multipath deviation determination device is further provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0071] Figure 7 is a structural block diagram of a pseudorange multipath deviation determination device according to an embodiment of the present invention. As Figure 7 shown, the device 70 includes: a memory 702, a processor 704, and a computer program stored on the above memory and executable on the above processor. It is characterized in that when the above processor executes the above computer program, the following operations are implemented: determining a distance correction amount of the phase center of the satellite antenna projecting in the line-of-sight direction of the first satellite for transmitting signals at multiple frequency points according to the phase center error value of the satellite antenna for transmitting signals at multiple frequency points of the first satellite in the earth-centered inertial coordinate system and the first information in the earth-centered earth-fixed coordinate system, where the first information includes: the position information of the first satellite, the sun position information, and the receiver position information of the first satellite; based on the first distance correction amount of the phase center of the satellite antenna for transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna for transmitting signals at the second frequency point, determining the target pseudorange multipath deviation of the satellite antenna for transmitting signals at the first frequency point, where the first frequency point is any frequency point included in the multiple frequency points, and the second frequency point is any other frequency point included in the multiple frequency points except the first frequency point.

[0072] In one embodiment, when the above-mentioned processor 704 executes the above-mentioned computer program, the following operations may also be implemented: Before determining the target pseudo-range multipath deviation of the above-mentioned satellite antenna when transmitting signals at the first frequency point based on the first distance correction amount of the phase center of the above-mentioned satellite antenna when transmitting signals at the first frequency point and the second distance correction amount of the phase center of the above-mentioned satellite antenna when transmitting signals at the second frequency point, one or more of the above-mentioned second frequency points are determined from the above-mentioned other frequency points.

[0073] In one embodiment, when the above-mentioned processor 704 executes the above-mentioned computer program, one of the following methods may be used to determine one of the above-mentioned second frequency points from the above-mentioned other frequency points: Determine the frequency point with the largest absolute value of the frequency difference from the above-mentioned first frequency point among the above-mentioned other frequency points as the above-mentioned second frequency point; Select the above-mentioned second frequency point from the frequency points among the above-mentioned other frequency points whose absolute value of the frequency difference from the above-mentioned first frequency point reaches the threshold according to a predetermined selection method.

[0074] In one embodiment, when the above-mentioned processor 704 executes the above-mentioned computer program, one of the following methods may be used to determine multiple of the above-mentioned second frequency points from the above-mentioned other frequency points: Determine all of the above-mentioned other frequency points as the above-mentioned second frequency points; Determine the absolute value of the frequency difference between each frequency point included in the above-mentioned other frequency points and the above-mentioned first frequency point; Sort the above-mentioned other frequency points in descending order according to the absolute value; Determine the first number of frequency points in the front as the above-mentioned second frequency points.

[0075] In one embodiment, when the number of the above-mentioned second frequency points is multiple, when the above-mentioned processor 704 executes the above-mentioned computer program, the target pseudo-range multipath deviation of the above-mentioned satellite antenna when transmitting signals at the first frequency point may be determined based on the first distance correction amount of the phase center of the above-mentioned satellite antenna when transmitting signals at the first frequency point and the second distance correction amount of the phase center of the above-mentioned satellite antenna when transmitting signals at the second frequency point by the following method: For each of the above-mentioned second frequency points, the following operations are performed to obtain multiple first pseudo-range multipath deviations: Based on the first distance correction amount of the phase center of the above-mentioned satellite antenna when transmitting signals at the first frequency point and the second distance correction amount of the phase center of the above-mentioned satellite antenna when transmitting signals at the above-mentioned second frequency point, determine the first pseudo-range multipath deviation of the above-mentioned satellite antenna when transmitting signals at the first frequency point; Determine the above-mentioned target pseudo-range multipath deviation based on the multiple above-mentioned first pseudo-range multipath deviations.

[0076] In one embodiment, when the above-mentioned processor 704 executes the above-mentioned computer program, the above-mentioned target pseudo-range multipath deviation may be determined based on the multiple above-mentioned first pseudo-range multipath deviations by the following method: Determine the average value of the multiple above-mentioned first pseudo-range multipath deviations as the above-mentioned target pseudo-range multipath deviation.

[0077] In one embodiment, when the above-mentioned processor 704 executes the above-mentioned computer program, the first distance correction amount of the phase center of the above-mentioned satellite antenna for transmitting signals on the first frequency point can be realized through the following formula and the second distance correction amount of the phase center of the above-mentioned satellite antenna for transmitting signals on the second frequency point to determine the target pseudo-range multipath deviation of the above-mentioned satellite antenna for transmitting signals on the above-mentioned first frequency point : :

[0078]

[0079]

[0080] wherein, is the pseudo-range of the signal transmitted on the frequency point , is the carrier phase observation value of the signal transmitted on the frequency point , is the carrier phase observation value of the signal transmitted on the frequency point , is the frequency of the signal transmitted on the frequency point , is the frequency of the signal transmitted on the frequency point , is the wavelength of the signal transmitted on the frequency point , is the wavelength of the signal transmitted on the frequency point , is the deviation term including the carrier phase ambiguity, hardware delay and the constant part of the multipath error of the signal transmitted on the frequency point .

[0081] It should be noted that the above-mentioned modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules are separately located in different processors in any combination form.

[0082] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is set to execute the steps in any one of the above method embodiments when running.

[0083] ​In an exemplary embodiment, the above computer-readable storage medium may include, but is not limited to: various media such as USB flash drives, read-only memory (ROM), random access memory (RAM), external hard drives, magnetic disks, or optical discs that can store computer programs.

[0084] An embodiment of the present invention further provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0085] In an exemplary embodiment, the above electronic device may further include a transmission device and input / output devices. Among them, the transmission device is connected to the above processor, and the input / output devices are connected to the above processor.

[0086] An embodiment of the present invention further provides a computer program product. The above computer program product includes a computer program, and when the computer program is executed by a processor, it implements the steps in any one of the above method embodiments.

[0087] Specific examples in this embodiment may refer to the examples described in the above embodiments and exemplary embodiments, and will not be repeated here.

[0088] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. They can be implemented by program code executable by the computing device. Thus, they can be stored in a storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order from here, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module to implement. In this way, the present invention is not limited to any specific combination of hardware and software.

[0089] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for determining pseudorange multipath deviation, characterized in that, Including: Determining a distance correction amount of a projection of a phase center of the satellite antenna transmitting signals at multiple frequency points in a line-of-sight direction of the first satellite based on a phase center error value of the satellite antenna transmitting signals at multiple frequency points under a satellite-fixed coordinate system and first information under an Earth-centered Earth-fixed coordinate system, where the first information includes: position information of the first satellite, solar position information, and receiver position information of the first satellite; Determining a target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point based on a first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and a second distance correction amount of the phase center of the satellite antenna transmitting signals at a second frequency point, where the first frequency point is any one of the multiple frequency points, and the second frequency point is any other frequency point among the multiple frequency points except the first frequency point; Based on the following formula, a first distance correction amount of the phase center of the satellite antenna transmitting a signal at a first frequency and a second distance correction amount of the phase center of the satellite antenna transmitting a signal at a second frequency are used to determine the target pseudorange multipath deviation of the satellite antenna transmitting a signal at the first frequency as follows: :​ ， ， Among them, is the pseudorange of the transmitted signal at frequency . is the carrier phase observation value of the transmitted signal at frequency . is the carrier phase observation value of the transmitted signal at frequency . is the frequency of the transmitted signal at frequency . is the frequency of the transmitted signal at frequency . is the wavelength of the transmitted signal at frequency . is the wavelength of the transmitted signal at frequency . is the deviation term of the constant part including the carrier phase ambiguity, hardware delay, and multipath error of the transmitted signal at frequency .

2. The method according to claim 1, wherein Before determining the target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point based on the first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency point, the method further includes: Determining one or more of the second frequency points from the other frequency points.

3. The method according to claim 2, characterized in that Determining one of the second frequency points from the other frequency points includes one of the following: Determining as the second frequency point a frequency point among the other frequency points having the largest absolute value of the frequency difference from the first frequency point; Selecting the second frequency point from among the frequency points having an absolute value of the frequency difference from the first frequency point reaching a threshold value among the other frequency points according to a predetermined selection method.

4. The method according to claim 3, characterized in that Determining multiple of the second frequency points from the other frequency points includes one of the following: Determining all of the other frequency points as the second frequency points; Determining the absolute value of the frequency difference between each frequency point among the other frequency points and the first frequency point; sorting the other frequency points in descending order of the absolute value; and determining the first N frequency points as the second frequency points.

5. The method according to claim 2, wherein When the number of the second frequency points is multiple, determining the target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point based on the first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency point includes: Performing the following operations for each of the second frequency points to obtain multiple first pseudorange multipath deviations: determining the first pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point based on the first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency point; Determining the target pseudorange multipath deviation based on the multiple first pseudorange multipath deviations.

6. The method according to claim 5, wherein Determining the target pseudorange multipath deviation based on the multiple first pseudorange multipath deviations includes: Determine the average value of multiple said first pseudorange multipath deviations as the target pseudorange multipath deviation.

7. A pseudorange multipath deviation determination device, characterized in that Comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the following operations are implemented: Determine a distance correction amount of the projection of the phase center of the satellite antenna transmitting signals at multiple frequency points in the line-of-sight direction of the first satellite based on the phase center error value of the satellite antenna transmitting signals at multiple frequency points in the celestial-fixed coordinate system and the first information in the Earth-centered Earth-fixed coordinate system, wherein the first information includes: the position information of the first satellite, the sun position information, and the receiver position information of the first satellite; Based on the first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency point, determine the target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point, wherein the first frequency point is any one of the multiple frequency points, and the second frequency point is any other frequency point among the multiple frequency points except the first frequency point; When the processor executes the computer program, the following formula can be used to implement the first distance correction amount of the phase center of the satellite antenna for transmitting signals at the first frequency point and the second distance correction amount of the phase center of the satellite antenna for transmitting signals at the second frequency point to determine the target pseudorange multipath deviation of the satellite antenna for transmitting signals at the first frequency point : ​​ ， ， Among them, is the pseudorange of the transmitted signal at frequency . is the carrier phase observation value of the transmitted signal at frequency . is the carrier phase observation value of the transmitted signal at frequency . is the frequency of the transmitted signal at frequency . is the frequency of the transmitted signal at frequency . is the wavelength of the transmitted signal at frequency . is the wavelength of the transmitted signal at frequency . is the deviation term of the constant part including the carrier phase ambiguity, hardware delay and multipath error of the transmitted signal at frequency .

8. A computer-readable storage medium, characterized in that, A computer program is stored in the computer-readable storage medium, wherein when the computer program is executed by the processor, the steps of the method described in any one of claims 1 to 6 are implemented.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method described in any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method described in any one of claims 1 to 6 are implemented.

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